CN111583268A - Point cloud virtual selection and cutting method, device and equipment - Google Patents
Point cloud virtual selection and cutting method, device and equipment Download PDFInfo
- Publication number
- CN111583268A CN111583268A CN202010422783.8A CN202010422783A CN111583268A CN 111583268 A CN111583268 A CN 111583268A CN 202010422783 A CN202010422783 A CN 202010422783A CN 111583268 A CN111583268 A CN 111583268A
- Authority
- CN
- China
- Prior art keywords
- selection
- point cloud
- virtual
- virtual selection
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
Abstract
The application relates to a method, a device and equipment for virtual selection and cropping of point clouds. The method comprises the following steps: constructing a virtual selection frame according to the selection operation of the target object on the target point cloud in the point cloud data, wherein the area covered by the virtual selection frame contains a plurality of target point clouds selected by the target object in the point cloud data; if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times; and extracting target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area file. The method and the device solve the problems that under the condition of huge data volume, the selection and cutting operation of the point cloud occupies a large memory, the data is redundant, and the processing efficiency is low, avoid the field expansion of a point structure and the generation of redundant data, improve the efficiency of the selection and cutting operation of the point cloud, and flexibly expand the interactive mode of the selection and cutting of the point cloud.
Description
Technical Field
The application relates to the technical field of surveying and mapping point cloud data processing, in particular to a point cloud virtual selection and cutting method, device and equipment.
Background
With the rapid development of the three-dimensional laser radar scanning technology, the three-dimensional laser radar scanning technology has been widely applied to the detection of point location information in various fields such as agriculture, forestry, ground disaster, electric power, surveying and mapping, and the like, due to the characteristics of rapidity, real-time performance, initiative, non-contact performance, high density and the like. The scanning of the three-dimensional laser radar often generates dozens of or even hundreds of GB massive point cloud data, and the huge data volume brings great challenges to the storage, management, scheduling and display of the point cloud, especially to the aspect of data editing.
At present, in the related art, for fine editing (such as point cloud segmentation, classification, and the like) of mass point cloud data, it is often necessary to reduce the data amount of the point cloud to be edited by a certain means, so as to improve the efficiency of point cloud editing, for example, block loading and displaying a point cloud file of large data, rapidly selecting the point cloud data to be edited by using an interactive selection tool, locally cutting the point cloud to be edited in an area of interest, and the like.
However, in the research process, the inventor finds that the point cloud selection and cropping method in the related art has certain limitations, large memory overhead and data redundancy, which results in low processing efficiency. For the conventional point cloud selection method, it is often necessary to use a new attribute field in the data structure of the point cloud to mark whether a point is selected. In a general point cloud point structure, geometric coordinate information (XYZ), color information (RGB), intensity information, echo frequency information, time information and the like of point locations are already stored, and in the case of a large number of points, adding an attribute field means huge memory overhead, and the burden on a CPU and a GPU is heavier in the processing process of the point cloud, and when the selection of the point cloud is cancelled, all the points need to be traversed to modify the values of the related attribute fields, which is inefficient. For the traditional point cloud cropping method, extra disk space is often needed to crop, store and generate a new point cloud file. The new cropping result point cloud file and the original file store part of the same point cloud data, which causes part of data redundancy. Since a new data file is generated, it means that a new point cloud octree structure is generated. The construction of a new file IO and a new octree affects the efficiency of point cloud trimming.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The application provides a point cloud virtual selection and cutting method, a point cloud virtual selection and cutting device and point cloud virtual selection and cutting equipment, and aims to solve the technical problem that the point cloud selection and cutting method has certain limitations, high memory overhead and low processing efficiency due to data redundancy.
In a first aspect, the present application provides a method for virtual selection and cropping of a point cloud, including: constructing a virtual selection frame according to the selection operation of the target object on the target point cloud in the point cloud data, wherein the area covered by the virtual selection frame contains a plurality of target point clouds selected by the target object in the point cloud data; if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times; and extracting target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area file.
Optionally, constructing a virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data includes: constructing a coordinate system in the point cloud data, wherein the coordinate system comprises a screen coordinate system and/or a world coordinate system; acquiring a selection state of a virtual selection frame determined by a target object, wherein the selection state comprises a forward selection state or a reverse selection state; determining a bounding box according to the maximum three-dimensional coordinate and the minimum three-dimensional coordinate, which are selected by the target object in the point cloud data and correspond to the target point cloud, in the coordinate system; and constructing a virtual selection frame according to the selection state, the bounding box and the standard constraint condition.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a vertex list of the virtual selection frame according to the vertex representing the position information of the virtual selection frame; and constructing a virtual selection box according to the selection state, the bounding box and the vertex list.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a numerical parameter list of the virtual selection frame according to the numerical parameters representing the range information of the virtual selection frame; and constructing a virtual selection frame according to the selection state, the bounding box and the numerical parameter list.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a transformation matrix of the virtual selection frame according to a mapping relation of the virtual selection frame for carrying out coordinate transformation between a screen coordinate system and a world coordinate system; and constructing a virtual selection frame according to the selection state, the bounding box and the transformation matrix.
Optionally, after constructing the virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data, the method further includes: and updating the display states of a plurality of target point clouds contained in the area covered by the virtual selection frame into a selected state.
Optionally, the updating the display states of the several target point clouds included in the area covered by the virtual selection box to the selected state includes: and changing the colors of a plurality of target point clouds in the area covered by the virtual selection frame in a scheduling thread, wherein the scheduling thread is a thread which asynchronously works with the main thread, and does not occupy the main thread resource when working.
Optionally, extracting, from the point cloud data, a target point cloud included in an area covered by the plurality of virtual selection frames according to the selection area file includes: solving intersection of the bounding box of the virtual selection frame and the bounding box of the point cloud data for filtering; under the condition that the bounding box of the virtual selection frame is intersected with the bounding box of the point cloud data, the bounding box of the virtual selection frame and the bounding box of each tile in the point cloud data are intersected to perform filtering; and in the case that the bounding box of the virtual selection frame is intersected with the bounding box of the target tile in the point cloud data, selecting the target point cloud contained in the area covered by the virtual selection frame from the point clouds in the target tile.
In a second aspect, the present application provides a point cloud virtual selection and cropping apparatus, comprising: the virtual selection frame comprises a construction module, a selection module and a selection module, wherein the construction module is used for constructing a virtual selection frame according to the selection operation of a target object on a target point cloud in point cloud data, and a plurality of target point clouds selected by the target object in the point cloud data are contained in an area covered by the virtual selection frame; the generating module is used for generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times if the target object is determined to be selected; and the extraction module is used for extracting target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area files.
In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the processor implements the steps of any one of the above methods when executing the computer program.
In a fourth aspect, the present application also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform any of the methods of the first aspect.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
the method comprises the steps that a virtual selection frame is constructed through selection operation of a target object on target point clouds in point cloud data, wherein the area covered by the virtual selection frame comprises a plurality of target point clouds selected by the target object in the point cloud data; if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times; according to the point cloud virtual selection and cutting method, the target point cloud contained in the area covered by the virtual selection frames is extracted from the point cloud data according to the selection area file, the problems that the selection and cutting operation of the point cloud occupies a large memory, the data is redundant and the processing efficiency is low under the condition of large data volume are solved, the field expansion of a point structure and the generation of redundant data are avoided, the efficiency of the point cloud selection and cutting operation is improved, and the interaction mode of the point cloud selection and cutting is flexibly expanded.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.
FIG. 1 is a schematic diagram of an alternative hardware environment for a method for virtual selection and cropping of a point cloud according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative method for virtual selection and cropping of a point cloud according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating an alternative virtual checkbox construction according to an embodiment of the present disclosure;
fig. 4 is a flow chart of an alternative point cloud extraction provided in an embodiment of the present application;
fig. 5 is a block diagram of an alternative virtual point cloud selecting and cropping device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
According to an aspect of embodiments of the present application, embodiments of a method for virtual selection and cropping of a point cloud are provided.
Optionally, in the embodiment of the present application, the point cloud virtual selection and cropping method may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. As shown in fig. 1, a server 103 is connected to a terminal 101 through a network, which may be used to provide services for the terminal or a client installed on the terminal, and a database 105 may be provided on the server or separately from the server, and is used to provide data storage services for the server 103, and the network includes but is not limited to: wide area network, metropolitan area network, or local area network, and the terminal 101 includes but is not limited to a PC, a cell phone, a tablet computer, and the like.
In an embodiment of the present application, a point cloud virtual selection and cropping method may be performed by the server 103, as shown in fig. 2, the method may include the following steps:
step S202, constructing a virtual selection frame according to the selection operation of the target object on the target point cloud in the point cloud data;
in the embodiment of the present application, the target object is an implementer that performs a selection operation on a point cloud, and the point cloud data may refer to a plurality of sampling points obtained by scanning an actual object through a scanning device, where the point cloud data may store geometric coordinate information (XYZ), color information (RGB), intensity information, echo frequency information, time information, and the like of a point location, and the point cloud data is stored in a point cloud file. The virtual selection box can record the constraint conditions met by the selected point cloud, and does not directly record the information of the selected point cloud. The virtual selection box may be constrained by one or more geometric shapes, the virtual selection box encloses a virtual selection area, each area is used as a record for once selecting the point cloud by the target object, that is, the area covered by the virtual selection box contains a plurality of target point clouds selected by the target object in the point cloud data.
Step S204, if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times;
in the embodiment of the application, the virtual selection frames surround the virtual selection area, each area is used as a target object to record point cloud selection once, the target object can be selected for multiple times, so that a plurality of virtual selection frames record all selected point clouds, and after the target object completes all selection operations, a selection area file can be generated according to the virtual selection frames to store all selection records instead of generating a new point cloud file to directly record information of the selected point clouds, so that the generation of redundant data is avoided. Each record may contain elements of a virtual selection box to hold the selection of the point cloud. The selection area file may be a file with a suffix name of LiRegion, in which serialized data of the point cloud selection result is stored in a binary format. The generated selection area file has smaller data volume compared with the point cloud file, so that the point cloud cutting and storing efficiency is greatly improved.
Step S206, extracting target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area file.
In the embodiment of the application, the operations of creating, modifying, copying, moving, merging, deleting and the like of the region file are simpler, more convenient and lighter than the point cloud file, and are convenient to share and multiplex different point cloud files. Therefore, when some point cloud data need to be edited and processed, the technical scheme of the application can quickly filter the point cloud data to be edited in the region of interest of the user from the massive point cloud files, and therefore the point cloud editing efficiency is improved.
Optionally, an optional virtual selection box construction method is provided in an embodiment of the present application, and as shown in fig. 3, the constructing a virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data in step S202 may include:
step S302, a coordinate system is constructed in point cloud data;
in the embodiment of the application, a coordinate system may be established in the whole point cloud data to describe a position relationship between the virtual selection frame and the virtual selection area covered by the virtual selection frame, wherein the coordinate system may include a screen coordinate system and/or a world coordinate system, and the selection of the coordinate system is based on the principle of facilitating the regularized description of the area.
Step S304, acquiring the selection state of the virtual selection frame determined by the target object;
in this embodiment of the application, the target object may determine a selection state of a selection area, that is, a virtual selection box, when the selection area is defined, where the selection state may include a forward selection state or a reverse selection state, the forward selection state indicates that a point cloud located in a coverage area of the virtual selection box is selected, and the reverse selection state indicates that a point cloud located outside the coverage area of the virtual selection box is selected. The point cloud is selected for further point cloud processing, such as feature extraction, segmentation, classification, and the like. The selection states of different virtual selection boxes are independent, and the region states generated by multiple selections can be different.
Step S306, determining a bounding box according to the maximum three-dimensional coordinate and the minimum three-dimensional coordinate, corresponding to the coordinate system, of the target point cloud selected by the target object from the point cloud data;
in the embodiment of the application, when the target object performs framing on the point cloud data, it is reflected that a maximum three-dimensional coordinate and a minimum three-dimensional coordinate, that is, two 3D point locations, exist in a coordinate system, at this time, a virtual selection frame may be determined according to the two 3D point locations, specifically, a cube may be formed by using the two 3D points as two vertexes of a diagonal line of the cube, and using a coordinate difference in an X-axis direction, a coordinate difference in a Y-axis direction, and a coordinate difference in a Z-axis direction as a length, a width, and a height of the cube, that is, a bounding box of the virtual selection frame is. The bounding box records the area range of the virtual selection box under the coordinate system, i.e. the rough range of the virtual selection box and its coverage area is represented in a regular shape. The bounding box can further improve the filtering efficiency for the extraction of the point cloud to be edited.
Step S308, constructing a virtual selection frame according to the selection state, the bounding box and the standard constraint condition.
In the embodiment of the present application, the standard constraint condition of the virtual selection box may be a vertex representing position information of the virtual selection box, may be a numerical parameter representing range information of the virtual selection box, and may also be a mapping relationship in which the virtual selection box performs coordinate transformation between a screen coordinate system and a world coordinate system.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a vertex list of the virtual selection frame according to the vertex representing the position information of the virtual selection frame; and constructing a virtual selection box according to the selection state, the bounding box and the vertex list.
In the embodiment of the present application, the vertex list may store one or more 3D vertices for describing the position information of the virtual selection box. Or a 2D vertex that does not consider the Z value, the Z value may be assigned to 0. For example, taking the target object to define a circle for selection, the center coordinates of the circle may be stored as parameter factors of the vertex list, so as to describe the position information of the circular area.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a numerical parameter list of the virtual selection frame according to the numerical parameters representing the range information of the virtual selection frame; and constructing a virtual selection frame according to the selection state, the bounding box and the numerical parameter list.
In the embodiment of the application, the numerical parameter list can store one or more numerical parameters, and can be matched with the vertex list to describe the range information of the virtual selection frame and the coverage area thereof more accurately. For example, also taking a circle as an example, a radius parameter of the circle may be stored, so as to express the coverage area information of the virtual selection box and the coverage area thereof.
Optionally, constructing the virtual selection box according to the selection state, the bounding box and the standard constraint condition further comprises: determining a transformation matrix of the virtual selection frame according to a mapping relation of the virtual selection frame for carrying out coordinate transformation between a screen coordinate system and a world coordinate system; and constructing a virtual selection frame according to the selection state, the bounding box and the transformation matrix.
In the embodiment of the present application, when the coordinate system established for the virtual selection box is a screen coordinate system, the transformation matrix may be a VPW transformation matrix for transforming a world coordinate system into the screen coordinate system, the VPW transformation matrix stores a composite matrix of a view matrix, a projection matrix, and a window matrix of a 3D window for displaying point clouds, and points recorded in the world coordinate system may be transformed into points of the screen coordinate system by the composite matrix. On the contrary, when the coordinate system established for the virtual selection box is a world coordinate system, the transformation matrix may be a VPW transformation matrix for transforming the screen coordinate system into the world coordinate system, the VPW transformation matrix stores a composite matrix of a view matrix, a projection matrix and a window matrix of the 3D window for displaying the point cloud, and the points recorded in the screen coordinate system may be transformed into the points of the world coordinate system by the composite matrix. In addition, when the coordinate system is a world coordinate system, the matrix may further store a rotation matrix, a translation matrix, a scaling matrix, or the like applied to the basic selection area, which is not limited in the present application.
In the embodiment of the present invention, the components of the virtual selection box may be as described above, or all or a plurality of the standard constraints may be provided at the same time.
In the embodiment of the present application, different types of selection areas, that is, virtual selection frames, may also be extended according to multiple constituent elements of the virtual selection frame, that is, multiple standard constraint conditions (a vertex list, a numerical parameter list, a transformation matrix, and the like), and each extension may determine whether a single point is located in a selection area. The types of regions that can be extended include, but are not limited to, the following: a screen circle selection area, a screen rectangle selection area, a screen polygon selection area, a screen brush selection area, a screen lasso selection area, a screen on-line selection area, a screen off-line selection area, a sphere selection area, a cylinder selection area, a cube selection area, a plane selection area, a face on-selection area, and the like. The partial selection area components are shown in the following table.
TABLE 1
| Region type | Screen circle | Screen rectangle | Screen polygon | Spherical shape | Plane surface | Cube |
| Vertex list | Circle center coordinate | Coordinates of two diagonal corners | Polygon boundary point coordinates | Coordinates of the center of sphere | Is free of | Coordinates of two diagonal corners |
| List of values | Radius of | Is free of | Is free of | Radius of | Plane equation coefficient and plane thickness | Is free of |
| Matrix array | VPW matrix | VPW matrix | VPW matrix | Unit matrix | Unit matrix | Rotation matrix |
| Coordinate system | Screen | Screen | Screen | World of things | World of things | World of things |
Optionally, after constructing the virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data, the method further includes: and updating the display states of a plurality of target point clouds contained in the area covered by the virtual selection frame into a selected state.
In the embodiment of the application, the display state of the selected point cloud can be updated, so that whether a point is selected or not is avoided being marked by adding a new attribute field, huge memory overhead is effectively reduced, and meanwhile, the selected point cloud can be displayed more visually.
Optionally, the updating the display states of the several target point clouds included in the area covered by the virtual selection box to the selected state includes: and changing the colors of a plurality of target point clouds in the area covered by the virtual selection frame in a scheduling thread, wherein the scheduling thread is a thread which asynchronously works with the main thread, and does not occupy the main thread resource when working.
In the embodiment of the application, in order to more intuitively display the selected point cloud, when the coverage area of the virtual selection box changes every time (including addition, modification, deletion and the like), the corresponding selected point cloud can be displayed in a specific color (such as red), so that the selected point cloud and the unselected point cloud can be distinguished conveniently. Meanwhile, in order to ensure the efficiency of color updating of the selected point cloud, the color updating of the selected point cloud can be arranged in a scheduling thread, the color of the selected point cloud is updated in cooperation with the scheduling of big data, and the operations of constructing, deleting, modifying and the like of a virtual selection frame are arranged in a main thread, so that input information of a mouse, a keyboard, a software interface and the like can be received conveniently, and the phenomenon that the main thread is jammed when the data volume is large and user experience is influenced is avoided.
Optionally, an optional point cloud extraction method is provided in an embodiment of the present application, as shown in fig. 4, the step S206 of extracting, according to the selected area file, target point clouds included in an area covered by a plurality of virtual selection frames from the point cloud data may include:
step S402, solving intersection of bounding boxes of the virtual selection frame and bounding boxes of the point cloud data for filtering;
in the embodiment of the application, primary filtering can be performed, that is, all point cloud data in the current point cloud file are filtered at first, and if the two bounding boxes have an intersection, it is indicated that point clouds to be edited in the current point cloud data are subjected to secondary filtering.
Step S404, under the condition that the bounding box of the virtual selection frame is intersected with the bounding box of the point cloud data, the bounding box of the virtual selection frame and the bounding box of each tile in the point cloud data are intersected to perform filtering;
in the embodiment of the application, on the basis of primary filtering, secondary filtering can be performed, that is, the part of the current point cloud data, which has an intersection with the bounding box of the virtual selection frame, is filtered again. Because the bounding box of the virtual selection box represents the rough range of the virtual selection box and its coverage area, and the bounding box of each tile also represents the rough range, intersecting the two bounding boxes can result in a more precise location where the point cloud to be edited is located.
In step S406, when the bounding box of the virtual selection box intersects with the bounding box of the target tile in the point cloud data, the target point cloud included in the area covered by the virtual selection box is selected from the point clouds in the target tile.
In the embodiment of the application, on the basis of the secondary filtering, the tertiary filtering can be performed to finally extract the point cloud to be edited. And when the bounding box of the target tile and the bounding box of the virtual selection frame have intersection, extracting the point cloud from the intersection area of the bounding box of the target tile and the bounding box of the virtual selection frame, and obtaining the point cloud to be edited.
In the embodiment of the application, the area is firstly filtered through the filtering condition from coarse to fine, and finally the point cloud to be edited is obtained, so that the filtering and extracting efficiency is improved. Compared with the method that a new point cloud file is required to be generated for selecting, cutting and storing the point cloud in the related technology, the method that the selection area file is adopted to record the selection result and the selection area file is repeatedly used to extract the point cloud to be edited greatly reduces the memory consumption, avoids the occupied space of the external magnetic disk and improves the processing efficiency.
The method comprises the steps that a virtual selection frame is constructed through selection operation of a target object on target point clouds in point cloud data, wherein the area covered by the virtual selection frame comprises a plurality of target point clouds selected by the target object in the point cloud data; if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times; according to the point cloud virtual selection and cutting method, the target point cloud contained in the area covered by the virtual selection frames is extracted from the point cloud data according to the selection area file, the problems that the selection and cutting operation of the point cloud occupies a large memory, the data is redundant and the processing efficiency is low under the condition of large data volume are solved, the field expansion of a point structure and the generation of redundant data are avoided, the efficiency of the point cloud selection and cutting operation is improved, and the interaction mode of the point cloud selection and cutting is flexibly expanded. Certainly, by matching with the regularized grid area, the block loading, display and interactive editing of massive point clouds can be realized by utilizing the selected area file, and the method is better applied to point cloud processing in various fields such as terrain, forestry, ground disaster, electric power and the like.
According to another aspect of the embodiments of the present application, as shown in fig. 5, there is provided a point cloud virtual selecting and cropping device, including: a building module 501, configured to build a virtual selection box according to a selection operation of a target object on a target point cloud in point cloud data, where an area covered by the virtual selection box includes a plurality of target point clouds selected by the target object in the point cloud data; a generating module 503, configured to generate a selection area file according to multiple virtual selection frames that are selected and constructed multiple times by a target object if it is determined that the target object is selected; and an extracting module 505, configured to extract, according to the selected area file, a target point cloud included in an area covered by the plurality of virtual selection frames from the point cloud data.
It should be noted that the building module 501 in this embodiment may be configured to execute step S202 in this embodiment, the generating module 503 in this embodiment may be configured to execute step S204 in this embodiment, and the extracting module 505 in this embodiment may be configured to execute step S206 in this embodiment.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a hardware environment as shown in fig. 1, and may be implemented by software or hardware.
Optionally, the point cloud virtual selecting and cropping device further includes: the coordinate system building module is used for building a coordinate system in the point cloud data, wherein the coordinate system comprises a screen coordinate system and/or a world coordinate system; the selection state acquisition module is used for acquiring the selection state of the virtual selection frame determined by the target object, wherein the selection state comprises a forward selection state or a reverse selection state; the bounding box determining module is used for determining a bounding box according to the maximum three-dimensional coordinate and the minimum three-dimensional coordinate, corresponding to the coordinate system, of the target object cloud selected from the point cloud data; the first construction module is used for constructing the virtual selection frame according to the selection state, the bounding box and the standard constraint condition.
Optionally, the point cloud virtual selecting and cropping device further includes: the vertex list determining module is used for determining a vertex list of the virtual selection frame according to the vertex representing the position information of the virtual selection frame; and the second construction module is used for constructing the virtual selection frame according to the selection state, the bounding box and the vertex list.
Optionally, the point cloud virtual selecting and cropping device further includes: the numerical parameter list determining module is used for determining a numerical parameter list of the virtual selection frame according to the numerical parameters representing the range information of the virtual selection frame; and the third construction module is used for constructing a virtual selection frame according to the selection state, the bounding box and the numerical parameter list.
Optionally, the point cloud virtual selecting and cropping device further includes: the transformation matrix determining module is used for determining a transformation matrix of the virtual selection frame according to the mapping relation of the virtual selection frame for carrying out coordinate transformation between the screen coordinate system and the world coordinate system; and the fourth construction module is used for constructing the virtual selection frame according to the selection state, the bounding box and the transformation matrix.
Optionally, the point cloud virtual selecting and cropping device further includes: and the display state updating module is used for updating the display states of the plurality of target point clouds in the area covered by the virtual selection frame into a selected state.
Optionally, the point cloud virtual selecting and cropping device further includes: the first filtering module is used for solving the intersection of the bounding box of the virtual selection frame and the bounding box of the point cloud data so as to filter the bounding box; the second filtering module is used for solving the intersection of the bounding box of the virtual selection frame and the bounding box of each tile in the point cloud data to filter under the condition that the bounding box of the virtual selection frame is intersected with the bounding box of the point cloud data; and the third filtering module is used for selecting the target point cloud contained in the area covered by the virtual selection frame from the point clouds in the target tile under the condition that the bounding box of the virtual selection frame is intersected with the bounding box of the target tile in the point cloud data.
There is also provided, in accordance with yet another aspect of the embodiments of the present application, a computer device, including a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps when executing the computer program.
The memory and the processor in the computer device communicate with each other through a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer-readable medium having non-volatile program code executable by a processor.
Optionally, in an embodiment of the present application, a computer readable medium is configured to store program code for the processor to perform the following steps:
step S202, constructing a virtual selection frame according to the selection operation of the target object on the target point cloud in the point cloud data;
step S204, if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times;
step S206, extracting target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area file.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
When the embodiments of the present application are specifically implemented, reference may be made to the above embodiments, and corresponding technical effects are achieved.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk. It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A point cloud virtual selection and cropping method is characterized by comprising the following steps:
constructing a virtual selection frame according to the selection operation of a target object on target point clouds in point cloud data, wherein the area covered by the virtual selection frame contains a plurality of target point clouds selected by the target object in the point cloud data;
if the target object is determined to be selected completely, generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times;
and extracting the target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area file.
2. The method of claim 1, wherein constructing a virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data comprises:
constructing a coordinate system in the point cloud data, wherein the coordinate system comprises a screen coordinate system and/or a world coordinate system;
acquiring a selection state of the virtual selection frame determined by the target object, wherein the selection state comprises a forward selection state or a reverse selection state;
determining a bounding box according to the maximum three-dimensional coordinate and the minimum three-dimensional coordinate, which are selected by the target object in the point cloud data and correspond to the coordinate system, of the target point cloud;
and constructing the virtual selection frame according to the selection state, the bounding box and standard constraint conditions.
3. The method of claim 2, wherein constructing the virtual selection box according to the selection state, the bounding box, and standard constraints further comprises:
determining a vertex list of the virtual selection frame according to the vertex representing the position information of the virtual selection frame;
constructing the virtual selection box according to the selection state, the bounding box and the vertex list.
4. The method of claim 2, wherein constructing the virtual selection box according to the selection state, the bounding box, and standard constraints further comprises:
determining a numerical parameter list of the virtual selection frame according to numerical parameters representing the range information of the virtual selection frame;
and constructing the virtual selection frame according to the selection state, the bounding box and the numerical parameter list.
5. The method of claim 2, wherein constructing the virtual selection box according to the selection state, the bounding box, and standard constraints further comprises:
determining a transformation matrix of the virtual selection frame according to a mapping relation of the virtual selection frame for carrying out coordinate transformation between the screen coordinate system and the world coordinate system;
and constructing the virtual selection frame according to the selection state, the bounding box and the transformation matrix.
6. The method of claim 1, wherein after constructing the virtual selection box according to the selection operation of the target object on the target point cloud in the point cloud data, further comprising:
and updating the display states of a plurality of target point clouds contained in the area covered by the virtual selection frame into a selected state.
7. The method of claim 6, wherein updating the display states of a number of the target point clouds contained within the region covered by the virtual selection box to a selected state comprises:
and changing the colors of a plurality of target point clouds in the area covered by the virtual selection frame in a scheduling thread, wherein the scheduling thread is a thread which works asynchronously with a main thread, and does not occupy main thread resources when working.
8. The method of claim 2, wherein extracting the target point cloud contained within the area covered by the plurality of virtual selection boxes from the point cloud data according to the selection area file comprises:
intersecting the bounding box of the virtual selection box with a bounding box of the point cloud data for filtering;
intersecting the bounding box of the virtual selection box with a bounding box of each tile in the point cloud data for filtering if the bounding box of the virtual selection box intersects with a bounding box of the point cloud data;
in the event that the bounding box of the virtual selection box intersects a bounding box of a target tile in the point cloud data, extracting the target point cloud contained within an area covered by the virtual selection box from the point clouds within the target tile.
9. A virtual selection and cropping device for point clouds, comprising:
the virtual selection frame comprises a construction module, a selection module and a selection module, wherein the construction module is used for constructing a virtual selection frame according to the selection operation of a target object on a target point cloud in point cloud data, and a plurality of target point clouds selected by the target object in the point cloud data are contained in an area covered by the virtual selection frame;
the generating module is used for generating a selection area file according to a plurality of virtual selection frames which are selected and constructed by the target object for a plurality of times if the target object is determined to be selected;
and the extraction module is used for extracting the target point clouds contained in the areas covered by the virtual selection frames from the point cloud data according to the selection area files.
10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010422783.8A CN111583268B (en) | 2020-05-19 | 2020-05-19 | Point cloud virtual selection and cutting method, device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010422783.8A CN111583268B (en) | 2020-05-19 | 2020-05-19 | Point cloud virtual selection and cutting method, device and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111583268A true CN111583268A (en) | 2020-08-25 |
| CN111583268B CN111583268B (en) | 2021-04-23 |
Family
ID=72126806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010422783.8A Active CN111583268B (en) | 2020-05-19 | 2020-05-19 | Point cloud virtual selection and cutting method, device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111583268B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114419075A (en) * | 2022-03-28 | 2022-04-29 | 天津云圣智能科技有限责任公司 | Point cloud cutting method and device and terminal equipment |
| WO2022180790A1 (en) * | 2021-02-26 | 2022-09-01 | パイオニア株式会社 | Information processing device, control method, program, and storage medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667290A (en) * | 2008-09-05 | 2010-03-10 | 鸿富锦精密工业（深圳）有限公司 | Method and computer system for fitting characteristic elements |
| CN102800125A (en) * | 2012-06-18 | 2012-11-28 | 浙江大学 | Large-scale point cloud selection method for supporting lasso |
| CN103164842A (en) * | 2011-12-14 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Point cloud extraction system and method |
| CN104346753A (en) * | 2013-08-07 | 2015-02-11 | 鸿富锦精密工业（深圳）有限公司 | Cutting optimization processing system and cutting optimization processing method |
| US20160117795A1 (en) * | 2014-10-27 | 2016-04-28 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Point cloud data processing system and method thereof and computer readable storage medium |
| CN105608730A (en) * | 2014-10-28 | 2016-05-25 | 富泰华工业（深圳）有限公司 | Point-cloud paintbrush selection system and point-cloud paintbrush selection method |
| CN108171217A (en) * | 2018-01-29 | 2018-06-15 | 深圳市唯特视科技有限公司 | A kind of three-dimension object detection method based on converged network |
| CN109003326A (en) * | 2018-06-05 | 2018-12-14 | 湖北亿咖通科技有限公司 | A kind of virtual laser radar data generation method based on virtual world |
| CN109215019A (en) * | 2018-08-24 | 2019-01-15 | 华南农业大学 | A kind of timber cut-off localization method and device based on log curvature |
| CN110084895A (en) * | 2019-04-30 | 2019-08-02 | 上海禾赛光电科技有限公司 | The method and apparatus that point cloud data is labeled |
| CN111080805A (en) * | 2019-11-26 | 2020-04-28 | 北京云聚智慧科技有限公司 | Method and device for generating three-dimensional block diagram of marked object, electronic equipment and storage medium |
| US20200134372A1 (en) * | 2018-10-26 | 2020-04-30 | Volvo Car Corporation | Methods and systems for the fast estimation of three-dimensional bounding boxes and drivable surfaces using lidar point clouds |
| CN111160302A (en) * | 2019-12-31 | 2020-05-15 | 深圳一清创新科技有限公司 | Obstacle information identification method and device based on automatic driving environment |
-
2020
- 2020-05-19 CN CN202010422783.8A patent/CN111583268B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667290A (en) * | 2008-09-05 | 2010-03-10 | 鸿富锦精密工业（深圳）有限公司 | Method and computer system for fitting characteristic elements |
| CN103164842A (en) * | 2011-12-14 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Point cloud extraction system and method |
| CN102800125A (en) * | 2012-06-18 | 2012-11-28 | 浙江大学 | Large-scale point cloud selection method for supporting lasso |
| CN104346753A (en) * | 2013-08-07 | 2015-02-11 | 鸿富锦精密工业（深圳）有限公司 | Cutting optimization processing system and cutting optimization processing method |
| CN105631927A (en) * | 2014-10-27 | 2016-06-01 | 富泰华工业（深圳）有限公司 | System and method for selecting point cloud lasso |
| US20160117795A1 (en) * | 2014-10-27 | 2016-04-28 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Point cloud data processing system and method thereof and computer readable storage medium |
| CN105608730A (en) * | 2014-10-28 | 2016-05-25 | 富泰华工业（深圳）有限公司 | Point-cloud paintbrush selection system and point-cloud paintbrush selection method |
| CN108171217A (en) * | 2018-01-29 | 2018-06-15 | 深圳市唯特视科技有限公司 | A kind of three-dimension object detection method based on converged network |
| CN109003326A (en) * | 2018-06-05 | 2018-12-14 | 湖北亿咖通科技有限公司 | A kind of virtual laser radar data generation method based on virtual world |
| CN109215019A (en) * | 2018-08-24 | 2019-01-15 | 华南农业大学 | A kind of timber cut-off localization method and device based on log curvature |
| US20200134372A1 (en) * | 2018-10-26 | 2020-04-30 | Volvo Car Corporation | Methods and systems for the fast estimation of three-dimensional bounding boxes and drivable surfaces using lidar point clouds |
| CN110084895A (en) * | 2019-04-30 | 2019-08-02 | 上海禾赛光电科技有限公司 | The method and apparatus that point cloud data is labeled |
| CN111080805A (en) * | 2019-11-26 | 2020-04-28 | 北京云聚智慧科技有限公司 | Method and device for generating three-dimensional block diagram of marked object, electronic equipment and storage medium |
| CN111160302A (en) * | 2019-12-31 | 2020-05-15 | 深圳一清创新科技有限公司 | Obstacle information identification method and device based on automatic driving environment |
Non-Patent Citations (4)
| Title |
|---|
| BISHENG YANG等: "Hierarchical extraction of urban objects from mobile laser scanning data", 《ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING》 * |
| 付昕乐: "精细三维空间数据交互可视化研究", 《中国优秀硕士论文全文数据库》 * |
| 张树森等: "《离群点删除算法的研究》", 《装备制造技术》 * |
| 王景先: "《LiDAR数据处理与林木参数提取系统设计》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022180790A1 (en) * | 2021-02-26 | 2022-09-01 | パイオニア株式会社 | Information processing device, control method, program, and storage medium |
| CN114419075A (en) * | 2022-03-28 | 2022-04-29 | 天津云圣智能科技有限责任公司 | Point cloud cutting method and device and terminal equipment |
| CN114419075B (en) * | 2022-03-28 | 2022-06-24 | 天津云圣智能科技有限责任公司 | Point cloud cutting method and device and terminal equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111583268B (en) | 2021-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10372728B2 (en) | System and method providing a scalable and efficient space filling curve approach to point cloud feature generation | |
| JP6469987B2 (en) | Compression of 3D modeled objects | |
| US9189862B2 (en) | Outline approximation for point cloud of building | |
| CN112347546A (en) | BIM rendering method, device and computer-readable storage medium based on lightweight device | |
| WO2001008263A2 (en) | Method and apparatus for generating atomic parts of graphic representation through skeletonization for interactive visualization applications | |
| CN116310192A (en) | Urban building three-dimensional model monomer reconstruction method based on point cloud | |
| CN111583268B (en) | Point cloud virtual selection and cutting method, device and equipment | |
| CN110647596B (en) | Map data processing method and device | |
| EP3563353A1 (en) | Systems and methods for lightweight precise 3d visual format | |
| CN111090712A (en) | Data processing method, device and equipment and computer storage medium | |
| CN113724401A (en) | Three-dimensional model cutting method and device, computer equipment and storage medium | |
| KR102046112B1 (en) | Apparatus for providing 3d terrain and facility data using online map open api and method thereof | |
| CN112597260A (en) | Visualization method and device for air quality mode forecast data | |
| Angelo | A brief introduction to quadtrees and their applications | |
| Droppova | The tools of automated generalization and building generalization in an ArcGIS environment | |
| US11449566B2 (en) | Methods and systems for processing geospatial data | |
| CN111862292B (en) | Data rendering method and device for transmission line corridor and computer equipment | |
| US11222467B2 (en) | Methods and systems for extracting data from virtual representation of three-dimensional visual scans | |
| CN113313101B (en) | Building contour automatic aggregation method, device, equipment and storage medium | |
| KR20190113669A (en) | Apparatus and method for data management for reconstruct in 3d object surface | |
| CN110443891B (en) | Gridding processing method and system of 3D model | |
| CN115828110B (en) | Water system space feature similarity detection method, device, storage medium and apparatus | |
| CN117389746B (en) | Pedestrian simulation building space analysis method based on BIM | |
| Luo et al. | SMT stencil automatic registration method based on coordinates distribution analysis | |
| Hossain et al. | Environment and object design for 3D simulation in context of commercial vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 2301-2308, third floor, building 2, incubator, Zhongguancun Software Park, Dongbeiwang, Haidian District, Beijing 100094 Patentee after: Beijing Digital Green Earth Technology Co.,Ltd. Address before: Room 2301-2308, floor 3, building 2, incubator, Dongbeiwang Software Park, Haidian District, Beijing 100094 Patentee before: BEIJING GREENVALLEY TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |